CN105290020B - Feeding bench apparatus and object driving device - Google Patents
Feeding bench apparatus and object driving device Download PDFInfo
- Publication number
- CN105290020B CN105290020B CN201510437079.9A CN201510437079A CN105290020B CN 105290020 B CN105290020 B CN 105290020B CN 201510437079 A CN201510437079 A CN 201510437079A CN 105290020 B CN105290020 B CN 105290020B
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- fluid
- rotation
- saddle
- disposed
- cleaning
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- 230000000873 masking effect Effects 0.000 claims abstract description 4
- 239000012530 fluid Substances 0.000 claims description 114
- 230000007246 mechanism Effects 0.000 claims description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 description 110
- 238000010926 purge Methods 0.000 description 26
- 239000000243 solution Substances 0.000 description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 12
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
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- 238000005406 washing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011086 high cleaning Methods 0.000 description 2
- 239000006210 lotion Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 239000003570 air Substances 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
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- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 239000010730 cutting oil Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/102—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration with means for agitating the liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
- Machine Tool Units (AREA)
Abstract
The present invention provides a kind of feeding bench apparatus and object driving device, can accurately drive while holding object controls posture, and can efficiently separate grasping device and driving device and improve durability.Feeding bench apparatus penetrates through closure assembly in a manner of facing the operating area by closure assembly masking and is movably arranged, and holding object has: the first rotation saddle is rotated freely around first axle；Second rotation saddle, is disposed in the first rotation saddle, rotates freely around second axis orthogonal with first axle；Grasping device, holding object；First driving device is disposed in outside relative to operating area compared with the closure assembly, rotates the first rotation saddle；Second driving device is disposed in outside relative to operating area compared with closure assembly, makes the second rotation saddle rotation.
Description
Technical field
The present invention relates to feeding bench apparatus and object driving devices, honour more particularly to having rotatably freely branch
The feeding bench apparatus and object driving device for rotating saddle and the second rotation saddle as the first of object.
Background technique
The cleaning of product, particularly the machine components based on auto parts utilizes jetting machine.Jetting machine will
The jet flow for the high pressure that cleaning liquid is pressurised into high pressure and obtains from nozzle ejection is blown to cleaned material (hereinafter referred to as " work
Part ".) on.At this point, the impact force and power of riving when the jet flow by high pressure impacts workpiece surface are attached to workpiece to remove
The foreign matter or burr for cutting oil, chip etc on surface.Jet flow is due to being changed its direction when contacting with workpiece surface, along work
Part surface flow, therefore, be suitble to the machine components of outer surface with complex shape cleaning and deburring (such as patent text
Offer 1,2).
In the cleaning device of patent document 1, on one side making to while nozzle is mobile the opposite side in the hole and nozzle of a workpiece
Formula is successively positioned and is cleaned.In the cleaning device of patent document 2, in the state of holding workpiece by multi-joint mechanical arm, benefit
With the posture of multi-joint mechanical arm control workpiece, thus cleaned towards nozzle.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2004-141811 bulletin (claim 1, FIG. 1 to FIG. 6)
Patent document 2: No. 8034191 bulletins (Fig. 9~15) of U.S. Patent No.
Summary of the invention
(technical problems to be solved by the inivention)
But such as the cleaning device of patent document 1, there are the following problems, that is, when keeping nozzle mobile, supplies to nozzle
To high pressure cleaning solution in the case where, for ensuring that the structure of leakproofness becomes complicated, design freedom is reduced.
The cleaning device of patent document 2 is due to holding workpiece towards nozzle by multi-joint mechanical arm, so there is control
Movement is complicated, it is difficult to the problem of improving positioning accuracy, repeatable accuracy or path accuracy.Carry out using high-pressure jet cleaning or
In the case where deburring, need to contact high-pressure jet critically along workpiece configurations shape.In positioning accuracy, repeatable accuracy or rail
In the case that mark precision is low, it is difficult to efficiently obtain the high cleaning of quality or deburring effect.
In addition, the high pressure water sprayed from nozzle is direct or contact workpiece is rebounded and acts on multi-joint mechanical arm indirectly.
Multi-joint mechanical arm is due to for precise product, so there is a problem of being easy due to the contact with high pressure water damaged.
Therefore, the issue of the present invention is to provide a kind of feeding bench apparatus and object driving devices, can be in holding pair
It is accurately driven while controlling posture as object, and can efficiently separate grasping device and driving device and improve durable
Property.
(technical solution for solving technical problem)
The present invention is in view of the above subject, using such as flowering structure.
It is mobile to penetrate through the closure assembly in a manner of facing the operating area by closure assembly masking for feeding bench apparatus of the invention
It is arranged freely, holding object controls the posture of the object, and the feeding bench apparatus is characterized in that having: the first rotation
Saddle is rotated freely around first axle；Second rotation saddle is disposed in the first rotation saddle, around different from the first axle
Second axis in direction rotates freely；Grasping device is disposed in the second rotation saddle, keeps the object；First driving dress
It sets, is disposed in outside compared with the closure assembly relative to the operating area, make the first rotation saddle rotation；Second drives
Dynamic device is disposed in outside relative to the operating area compared with the closure assembly, makes the second rotation saddle rotation.
In addition, in the following description, the term of " operation " includes the processing, coating or cleaning using tool extensively.Separately
Outside, the term of " cleaning " includes the operation or processing carried out from the jet flow (cleaning solution, water, air etc.) of nozzle injection high pressure extensively
It Deng movement, is not particularly limited, such as also deburring or air blast comprising being formed by hole machined.
Feeding bench apparatus according to the present invention, penetrating through the cover in a manner of facing the operating area by closure assembly masking
Device is movably arranged, and is easy as a result, by closure assembly crossing work region and first driving device and the second driving device.
Therefore, the design freedom of the mobile device of mobile feeding bench apparatus improves, and is easy to use linear moving apparatus.In addition, due to
The drive system and transmission system of feeding bench apparatus can be disposed in the inside or rear of feeding bench apparatus, so passing through feeding station
Device and closure assembly interdict them with operating area.It is therefore prevented that drive system breakage due to the jet flow of cleaning solution and steam.
In addition, due to having the first rotation saddle and the second rotation saddle, so as to so that object is rotated in 2 axis directions
Posture is controlled, can be adjusted the angle freely accordingly, with respect to object, carry out suitable operation.
Therefore, feeding bench apparatus of the invention can flexibly correspond to diversified object.
In this way, feeding bench apparatus of the invention can accurately straight line drives while holding object controls posture
It is dynamic, and grasping device and driving device can efficiently be separated, durability can be improved.
Feeding bench apparatus of the invention is characterized in that, in the feeding bench apparatus of above-mentioned record, the grasping device tool
Have: keeping the fluid-pressure cylinder of the object, supplied from fluid feed sources to the fluid of the fluid-pressure cylinder supply pressure fluid
Device.The fluid supply apparatus has: being disposed in the first fluid supply rotary joint of the first rotation saddle, is arranged
It is supplied in the second fluid supply rotary joint of the second rotation saddle, from the fluid feed sources to the first fluid
It is supplied with the fluid passage of rotary joint supply pressure fluid, from the first fluid supply rotary joint to the second fluid
To with the fluid passage of rotary joint supply pressure fluid, from the second fluid supply rotary joint to the fluid-pressure cylinder
The fluid passage of supply pressure fluid.
Feeding bench apparatus according to the present invention is used by the first fluid supply rotary joint and second fluid supply
Rotary joint also can be reliably to fluid-pressure cylinder supply stream even if the first rotation saddle and the second rotation saddle rotation
Body.
In addition, the supply road due to fluid is rotatably freely arranged, so fluid path not will receive distortion or bending.
Since fluid path not will receive distortion or bending, it is possible to make the fluid path by hard materials such as metal materials.By
In fluid path can be made by hard material, it is possible to prevent from damaging or corrode, improve rigidity or durability.
Object driving device of the invention, feeding bench apparatus with above-mentioned record, movably bearing it is described into
To platform device mobile device, support the pedestal of the mobile device, the object driving device is characterized in that, the movement
Device has: being placed in the left and right directions moving guiding mechanism of the pedestal, is movably supported on left and right directions shifting
The Mobile base of action-oriented mechanism, is disposed in the upper of the Mobile base at the X-axis driving device for moving the Mobile base in the lateral direction
Lower direction moving guiding mechanism, is disposed in the Z axis at the Z axis saddle for being movably supported on the up and down direction guiding mechanism
Saddle and the front-rear direction moving guiding mechanism for movably supporting the feeding bench apparatus forward and backward, relative to described
Operating area, the mobile device are disposed in outside compared with the closure assembly.
Object driving device according to the present invention, it is mobile due to having left and right directions moving guiding mechanism, up and down direction
Guiding mechanism and front-rear direction moving guiding mechanism, thus by fixing 2 axis and driving 1 axis, it can be respectively in 3 axis directions height
It moves linearly to precision, and by that feeding bench apparatus can be made to describe free track and move by the mobile combination of 3 axis directions
It is dynamic.
In this way, object driving device of the invention be due to that can make feeding bench apparatus move freely in 3 axis directions, so
Posture can be controlled in the state of using grasping device holding object, while moves object freely using mobile device
To operating area.
(The effect of invention)
The present invention provides a kind of feeding bench apparatus and object driving device, can control posture in holding object
Accurately linear drives simultaneously, and can efficiently separate grasping device and driving device and improve durability.
Detailed description of the invention
Fig. 1 shows the perspective views of the cleaning device of embodiment of the present invention from right forward side.
Fig. 2 indicates the perspective view of the cleaning device of embodiment of the present invention observed from right rear side.
Fig. 3 shows the schematic diagram of the structure of the feeding bench apparatus of embodiment of the present invention.
Fig. 4 shows the sectional view of the structure of the feeding bench apparatus of embodiment of the present invention.
Fig. 5 is the hydraulic circuit diagram for indicating the flow path of the high-pressure cleaning liquid of cleaning device of embodiment of the present invention.
Fig. 6 indicates that the structural map of the rinse bath of the cleaning device of embodiment of the present invention, (a) indicate from right rear side
The perspective view arrived, (b) indicate from front left sides to perspective view.
Fig. 7 indicates the perspective view of the state of the use cleaning jet pipe of the cleaning device of embodiment of the present invention, and (a) is indicated will
State before workpiece insertion cleaning jet pipe, (b) indicates for workpiece to be inserted into the state after cleaning jet pipe.
Symbol description
10 cleaning devices
11 pedestals
13 work piece actuating devices (object driving device)
14 closure assemblies
15 purge chambers
16 move in outlet
17 grasping devices
18 Machine Rooms opening
20 rinse baths
22 washer jets (nozzle)
40 feeding bench apparatus
41 servo motors (the second driving device)
43 second transmission axles
45,46 bevel gears (the second retarder)
46 planetary gears (the second retarder)
47 second rotation saddles
48 connection devices
49 servo motors (first driving device)
54 first transmission axles
55 feeding station
56 small-diameter gears (the first retarder)
57 large diameter gears (the first retarder)
58 planetary gears (the first retarder)
59 first rotation saddles
Rotary joint (fluid supply apparatus) is used in the supply of 60 second fluids
Rotary joint (fluid supply apparatus) is used in the supply of 61 first fluids
64,65,66 fluid passage
70 quadrature axis shape mobile devices (mobile device)
96 fluid supply apparatus
E cleaning area.
Specific embodiment
In case where being equipped on cleaning device 10, referring to Fig.1~Fig. 7 illustrates the feeding station dress of embodiment of the present invention
Set 40.
As shown in Figure 1, the cleaning device 10 of the carrying feeding bench apparatus 40 of embodiment of the present invention is from being disposed in as work
Nozzle, that is, washer jet 22 of the cleaning area E in industry region sprays cleaning solution, cleans to the workpiece W as object, and
Workpiece W cleaning area E is moved to using feeding bench apparatus 40 to clean.
The rear of cleaning device 10 on the base 11 has the quadrature axis shape mobile device 70 as mobile device, in front
Has purge chamber 15.Quadrature axis shape mobile device 70 is by numerical control.Purge chamber 15 has big Machine Room 18 (references of opening at rear
Fig. 2).Machine Room opening 18 is only disposed in the mobile dress of quadrature axis shape by that the mobile closure assembly 14 in direction can cover vertically and horizontally
The front end (feeding title) of 70 feeding bench apparatus 40 is set out of, closure assembly 14 penetrates into front purge chamber 15.In feeding station
The first rotation saddle (returning translocation サ De Le) 59 is arranged in the front end (feeding title) of device 40, and matches on the first rotation saddle 59
If the second rotation saddle 47.It is arranged on the second rotation saddle 47 by (not shown) structures such as the articulation mechanisms that detachably constitutes
At connection device 48.Grasping device 17 is releasably linked on the second rotation saddle 47 by connection device 48.
Work piece actuating device as object driving device has feeding bench apparatus 40 and moves feeding bench apparatus 40
Mobile device, that is, quadrature axis shape mobile device 70.
In addition, in the following description, for purposes of illustration only, operator's sight (not shown) before being located at purge chamber 15
It examines, left and right directions is set as X-axis, front-rear direction is set as to Y-axis, up and down direction is set as to Z axis is illustrated, but be not to limit this
The direction of the cleaning device of invention or the meaning of Spindle Name.
Pedestal 11 is firm base station, supports purge chamber 15, quadrature axis shape mobile device 70 etc. at an upper portion thereof.In addition, base
Seat 11 have the cleaning solution that will be filled in purge chamber 15 or spray, the chip being discharged from workpiece W, processing oil etc foreign matter and
The burr to fall off from workpiece W is sent to the waste liquid access (not shown) of cleaning fluid tank.It is moved in addition, pedestal 11 will control quadrature axis shape
The control panel (not shown) and numerical control device, that is, synchronizing device 95 of dynamic device 70, high-pressure pump, various valves etc. are fixed.
Referring to Fig. 2, illustrate the work piece actuating device 13 and quadrature axis shape mobile device 70 as object driving device.
The quadrature axis shape shifting that work piece actuating device 13 has feeding bench apparatus 40, movably supports feeding bench apparatus 40
Dynamic device 70, the pedestal 11 for supporting quadrature axis shape mobile device 70.
Left and right directions moving guiding mechanism 73,73 is disposed in parallel on pedestal 11.Packet is vertically equipped in the upper surface of pedestal 11
Enclose the rack 12 of quadrature axis shape mobile device 70.X-axis driving device 86 has the first X-axis driving device being disposed on pedestal 11
71, the second X-axis driving device 75, the synchronizing device 95 on the top of rack 12 are disposed in.First X-axis driving device 71 and the 2nd X
Axial brake device 75 is set in parallel with horizontal direction (left and right directions), is synchronously driven along the x axis by synchronizing device 95
Mobile base 78.
First X-axis driving device 71 is by the first X-axis ball-screw 74, the first X-axis for rotating first ball screw 74 electricity
Machine 72 is constituted.The nut (not shown) of first X-axis ball-screw 74 is fixed in the bottom surface of Mobile base 78.Second X-axis driving dress
75 are set to be made of the second X-axis ball-screw 77 and the second X-axis motor 76 for rotating the second X-axis ball-screw 77.Second X-axis
The nut (not shown) of ball-screw 77 is fixed in front of the top of Mobile base 78.
For quadrature axis shape mobile device 70 due to keeping workpiece W (referring to Fig.1) mobile, movable range is very big.Moreover,
Make the movement of quadrature axis shape mobile device 70 is the feeding bench apparatus 40 of aftermentioned large size, and therefore, Mobile base 78 also increases.Cause
This, acts on left and right directions moving guiding mechanism 73,73 or the load torque of X-axis driving device 86, inertia are very big.Moreover,
Deformation with the movement of Mobile base 78 also increases.But by driving Mobile base 70 by each X-axis driving device (71,75)
Lower part (bottom) and top and keep them synchronous, the deformation of Mobile base 78 can be inhibited, reduce the power for acting on each driving device
Square and load inertia.
Mobile base 78 moves along the x axis, has the Z axis as vertical axis.Z axis driving device is by vertically parallel
Ground be disposed in Mobile base 78 up and down direction moving guiding mechanism 81,81, Z axis ball-screw 80, rotate Z axis ball-screw 80
Z axis motor 79 constitute.
The Z saddle 85 moved in the vertical direction on Z axis has the Y-axis driving device in the direction vertical with X-axis and Z axis.Y
Axial brake device has front-rear direction moving guiding mechanism 83, y-axis motor 82, Y-axis ball-screw (not shown), movably
It is supported on the Y saddle 84 of front-rear direction moving guiding mechanism 83.Feeding bench apparatus 40 is arranged on Y saddle 84.
Safety guard (not shown) is disposed in the outside of rack 12, and the mobile space of quadrature axis shape mobile device 70 is (following
The space is known as " Machine Room ".) interdicted with external.Since Machine Room utilizes closure assembly 14 and the cleaning for having cleaning area E
Room 15 is interdicted, so will not enter cleaning solution from purge chamber 15.
Closure assembly 14 uses telescopic cover or corrugated protective cover.
Illustrate feeding bench apparatus 40 referring to Fig. 3 and Fig. 4.Fig. 3 schematically shows the power-transmission system of feeding bench apparatus 40
And the connection path of fluid piping.Fig. 4 is the drawing in side sectional elevation of feeding bench apparatus 40.Fig. 4 diagram the second rotation saddle, so that first
The state that rotation saddle 59 is rotated by 90 ° indicates.
Feeding bench apparatus 40 is disposed in the Y saddle 84 of quadrature axis shape mobile device 70, passes through quadrature axis shape mobile device 70
It is moved freely in 3 axis directions.Feeding bench apparatus 40 penetrates through closure assembly 14 and is arranged, rear portion and it is internal from purge chamber 15 every
From.The quadrature axis shape mobile device 70 for movably supporting feeding bench apparatus 40 is disposed in rear compared with closure assembly 14, because
This, quadrature axis shape mobile device 70 will not be cleaned the environmental corrosion in room 15.
Feeding bench apparatus 40 has: forming the matrix part i.e. feeding station 55 of hollow cylinder shape, is rotatably freely arranged
In feeding station 55 front and rotated centered on first axle 87 first rotation saddle 59, be disposed on the first rotation saddle 59
And the second rotation saddle 47 rotated centered on the second axis 88 of the rotary shaft vertical direction with the first rotation saddle 59.?
The connection device 48 of connection grasping device 17 is arranged in the front end of two rotation saddles 47.In the rear fixing shell 50 of feeding station 55,
And the fixed servo motor 49 as first driving device and the servo motor 41 as the second driving device on shell 50.
As long as in addition, first axle 87 and the second axis 88 are different directions, such as the angle of its between centers can also be with shape
At 135 °.First axle 87 can not be coaxial with feeding station 55, and the center of first axle 87 and feeding station 55 for example can be 135 °.
In addition, the motor of band brake can be used instead of servo motor for servo motor 49 and servo motor 41
Or fluid pressure type rotating cylinder.In this case, and with limitation rotation mechanical stop.It, can be with as fluid pressure type rotating cylinder
Using cylinder or oil hydraulic cylinder, the cylinder is using as the compressed air of compression fluid, as pressure fluid, the oil hydraulic cylinder is sharp
The oil pressure of incompressible fluid is used as pressure fluid.
The output of servo motor 49 passes to gear 52 by shaft coupling 51, passes to and can revolve by gear 52 and gear 53
Turn the first transmission axle 54 of ground axle suspension.In the fixed small-diameter gear 56 in 54 front end of the first transmission axle, engaged with large diameter gear 57.
Large diameter gear 57 is fixed in the input shaft 58a of planetary gear 58.The rotation of servo motor 49 is transmitted by the first transmission axle 54
To planetary gear 58, it is decelerated and is exported from the output shaft 58b as hollow shaft.First rotates saddle 59 for the second transmission axle 43
It is rotatably pivotally supported on output shaft 58b as its rotary shaft.58 structure of small-diameter gear 56, large diameter gear 57 and planetary gear
At the first deceleration device.
In addition, instead of planetary gear 58, cycloidal reducer (referring to special open 2010-32038 bulletin), partially can use
Heart action formula gear-box (referring to special table 2012-506005), eccentric oscillation gear device are (referring to special open 2010-91073
Number bulletin).Cycloidal reducer can slow down the big driving force of the size compared to retarder, be preferred.In addition, instead of small
Diameter gear 56, large diameter gear 57 and planetary gear 58, can use output shaft for hollow shaft, can be in hollow output shaft
Portion penetrates through the second transmission axle 43 and input shaft all retarders parallel with output shaft.
The output of servo motor 41 is directly passed to the second transmission axle 43 via shaft coupling 42.Second transmission axle 43 and
One rotation saddle 59 is coaxially rotatably pivotally supported, and the center of the hollow output shaft 58b of planetary gear 58 is penetrated through.Moreover,
Second transmission axle 43 is disposed in the center of feeding station as the rotary shaft of the first rotation saddle 59.In the front end of the second transmission axle 43
Fixing bevel gear 44.The bevel gear 45 engaged with bevel gear 44 is fixed on the input shaft 46a of the second retarder 46.By bevel gear
44,45 the rotation of servo motor 41 is vertically converted into direction of transfer.The rotation by slowing down as planetary gear retarder 46,
It is exported from hollow output shaft 46b.Bevel gear 44,45 and retarder 46 constitute the second retarder.On output shaft 46b, perforation
Output shaft 46b rotatably freely fixes the second rotation saddle 47 of umbellate form.
In addition, the second retarder replaces planetary gear, also can use using above-mentioned retarder as the input shaft of representative and
Output shaft is coaxial and output shaft is the retarder of hollow shaft.
In addition, the situation that the first retarder or the second retarder are sufficiently large in the output of servo motor 49 or servo motor 41
Under do not need to be arranged.
Mainly according to Fig. 3, to from fluid feed sources 62 to the fluid supply apparatus 96 of 68 supply pressure fluid of fluid-pressure cylinder
It is illustrated.
Fluid supply apparatus 96 has: being disposed in the first fluid supply rotary joint 61 of the first rotation saddle 59, matches
Second fluid supply rotary joint 60 set on the second rotation saddle 47, the supply rotation from fluid feed sources 62 to first fluid
The fluid passage 64 of 61 supply pressure fluid of adapter is supplied to second fluid with rotation from first fluid supply with rotary joint 61
The fluid passage 65 of 60 supply pressure fluid of adapter, from second fluid supply with rotary joint 60 to 68 supply pressure of fluid-pressure cylinder
The fluid passage 66 of force flow body.
In the grasping device side (front end side) of the first rotation saddle 59, rotates axis and first fluid supply use is coaxially arranged
Rotary joint 61.First fluid supply with rotary joint 61 by with first rotation saddle concentric rotation axis fix axis body 61b,
It is rotatably pivotally supported the periphery in axis body and the shell 61a rotated together with the first rotation saddle is constituted.
In the opposite side (rear end side) with grasping device of the second rotation saddle 47, with the second coaxial arranging of rotation saddle 47
Second fluid supply rotary joint 60.Second fluid supply rotary joint 60 is by being fixed on the shell of the first rotation saddle 59
60a and the axis body 60b composition for being rotatably pivotally supported the inside in shell 60a and a part as the second rotation saddle 47.
Fluid feed sources 62 (referring to Fig. 3) are connect with valve cell 63.Fluid passage (piping) 64,64 is by valve cell 63 and
The axis body 61b of one fluid supply rotary joint 61 is connected to.Fluid passage 64 by inside feeding station 55 to before feeding station 55
End, and supplied by the outside of the rotating range of the first rotation saddle 59 with fluid and connect with rotary joint 61 (referring to Fig. 4).
Fluid passage 65 is connected to second by the inside of the first rotation saddle 59 from the shell 61a of fluid supply rotary joint 61
The body supply shell 60a of rotary joint 60.Inside and connection of the fluid passage 66 by the rotation saddle 47 of axis body 60b and second
The fluid coupling 67 of device 48 is connected to.
Fluid passage 64,65,66 be equipped with it is multiple, the various fluid devices for being disposed in grasping device 17 and valve cell 63 are connected
It is logical.Valve cell 63 is the aggregate of multiple directions switching valve, and the fluid supplied from fluid feed sources 62 is switched to each flow path.
By the rotary shaft that rotates saddle 59,47 for two with fluid passage 64,65,66 and coaxially the fluid that is arranged supplies
It is connected with rotary joint 61,60, it can be to the second rotation 47 supply pressure fluid of saddle rotated freely.The pressure current supplied
Body is used as the driving source of grasping device 17, so that grasping device 17 holds workpiece W.
Since fluid passage 65,66 is rotated by fluid supply with rotary joint 61,60 freely, piping 64,
65,66 metal piping can be used.The front end portion of feeding bench apparatus 40 is moved inside purge chamber 15, is exposed to the clear of high pressure
In the steam of washing lotion and cleaning solution, but by that can give and be piped high durability using metal piping supply fluid pressure.
The connection device 48 for having fluid coupling 67 is arranged in the front end side of the second rotation saddle 47.Link device 48 by
So-called single-tap connector is constituted, and has the second rotation saddle 47 and grasping device 17 being connected to correct position, in connection
Meanwhile pressure fluid being supplied to the effect of grasping device 17 using fluid coupling 67.
Fluid coupling 67 has following function, links grasping device 17 and the second rotation saddle 47 in connection device 48
When, it will hold and fill in connection device 48 to the supply pressures fluid such as fluid-pressure cylinder 68 from second fluid supply with rotary joint 60
When setting 17 and the second rotation separation of saddle 47, the supply of pressure fluid is interdicted.
Through this structure, it can detachably install to form grasping device 17 of various shapes, to cope with
Various workpiece W.
That is, the grasping device 17 for holding workpiece W needs to carry out various designs according to the shape of workpiece W.Moreover, same obtaining
When production various workpieces W method (mixes line production) in the case where, if the shape of workpiece W or type variation, need replacing
Grasping device 17.Connection device 48 prepares the handle of multiple feeding titles for being installed on feeding bench apparatus 40 according to fluid coupling 67
Device 17 is held, and according to the workpiece W to circulate in production line, cleaning device 10 loads and unloads various grasping devices 17, so as to automatic
Ground exchanges grasping device 17.Therefore, even if in mixes line production, the operation of exchange grasping device 17, Ke Yiti can also be saved
High productive capacity.
Illustrate grasping device 17 referring to Fig. 3.The fluid-pressure cylinder that grasping device 17 has rack 90 and is fixed in rack 90
68, dropping place pin (seat ピ Application) 92, positioning pin 93 and dropping place detection fluid tip 69.Fluid-pressure cylinder 68 and dropping place detection are used
Fluid tip 69 via 67 supply pressure fluid of fluid coupling.The fluid pressure for acting on each device is controlled by valve cell 63
It supplies, depressurizes.
Workpiece W determines the position on dropping place face in rack, and by positioning pin 93 by multiple 92 dropping places of dropping place pin.?
Clamping piece 91 is installed, clamping piece is opened and closed according to the movement of piston shaft on the piston shaft of fluid-pressure cylinder 68.If closing clamping
Part 91, then workpiece W is fixed on dropping place face.Fluid tip 69 is set on the dropping place face of workpiece W, by the dropping place of workpiece W,
Close fluid tip 69.If fluid tip 69 is closed by the dropping place of workpiece W, in the piping 64 connecting with fluid tip 69
Pressure rise near supply pressure, therefore, can pass through pressure switch 94 detect workpiece W dropping place.In addition, being opened instead of pressure
It closes 94 and can use pressure sensor.
Purge chamber 15 provides jet cleaning liquid and cleaning workpiece W (comprising operations such as air blast or deburrings.) space (cleaning
Region E and operating area E).Purge chamber 15 and pedestal 11 touch, by its it is internal with interdicted outside cleaning device 10.Pass through cleaning
The blocking function of room 15, cleaning solution will not escape to the outside of cleaning device 10.Purge chamber 15, which has from outside, moves in workpiece W's
Move in outlet 16 (referring to Fig. 2).It is closed by moving in door 19 to move in outlet 16.
In the rinse bath 20 of the 15 fixed fabrication process region, that is, cleaning area E in inside of purge chamber.According to Fig. 5 and Fig. 6, to clear
Washing trough 20 and high-pressure wash are illustrated.Discharge outlet 26 and drain valve 24 is arranged in the bottom of rinse bath 20.24 couples of drain valve rows
The mouth of a river 26 is opened and closed.Since discharge outlet 26 is very big relative to the capacity of rinse bath 20, it is possible to make water discharge time very
It is short, help to shorten scavenging period.Since drain valve 24 is arranged in a manner of it can be opened and closed discharge outlet 26, it is possible to clean
Cleaning solution is full of in slot 20.Due to having drain valve 24, so as to be full of cleaning solution or discharge cleaning in rinse bath 20
Liquid, therefore, cleaning device 10 can be selectively performed in gas and cleans in cleaning and water.
Water supply piping 23 is connected to (referring to Fig. 6 (a)) with purge tank 35.Has feed water valve 36 in the entrance of water supply piping 23.
Feed water valve 36 is always off, and is only opened when supplying water.If opening feed water valve 36, the cleaning solution full of purge tank 35 is by being somebody's turn to do
Hydraulic pressure and flow into rinse bath 20.It is equipped with liquid level meter (not shown) in rinse bath 20, feed water valve 36 is closed when detecting full water.Such as
The water surface of purge tank is set as high by fruit, then is supplied water by the hydraulic pressure in purge tank, and construction can be made easy.
In addition, replacing setting liquid level meter and the timer for controlling the duration of valve opening of feed water valve 36 being arranged, only in duration of valve opening
Feed water valve 36 is opened for the time of 20 full water of rinse bath.
Cleaning solution in purge tank 35 is forced into 10MPa~100MPa by high-pressure pump 27.Pressurized cleaning solution passes through clear
29 liquor charging of washing lotion access, and each nozzle block 21a~21f is distributed to by valve cell 28.Valve cell 28 has the quantity with distribution
With open and close valve 28a~28g of number.Each open and close valve 28a~28f and each nozzle block 21a~21f passes through cleaning solution access 29a~29f
It is respectively communicated with.Washer jet 22a~22f is separately equipped on nozzle block 21a~21f.Each nozzle block 21 is separately equipped in cleaning
The side of slot 20 can spray jet flow Ja~Jf from each washer jet 22a~22f from multiple faces in multiple directions.Due to can be from more
A washer jet 22 (nozzle group 22a~22f) while jet cleaning liquid, so generating multiple jet flows in rinse bath 20.Opening and closing
Valve 28g is connected to cleaning jet pipe 25 by cleaning solution access 29g.
By being divided into multiple cleaning paths to spray washer jet group 22, the cleaning solution that can be reduced while spray
Amount.It, can efficiently cleaning workpiece W by the way that washer jet group 22 is arranged according to the shape of workpiece W.If multiple cleanings are arranged
Nozzle 22, then the necessary electrical capacity of high-pressure pump 27 increases.Washer jet 22 is grouped as multiple groups, is sprayed by every group of sequence
It penetrates, thus, it is possible to cut down the electrical capacity of high-pressure pump 27.
Cleaning jet pipe 25 is illustrated referring to Fig. 7.Cleaning jet pipe 25 has axis elongated in vertical direction, from axis
High pressure water is sprayed in the horizontal direction in front end.Near cleaning jet pipe 25 is rotatably pivotally supported below rinse bath 20.It is using
In the case where cleaning jet pipe 25, high pressure water is supplied to cleaning jet pipe 25, makes to clean the rotation of jet pipe 25.Later, by the hole portion of workpiece W
H is positioned at the top of cleaning jet pipe 25 in such a way that the rotary shaft of the axis of hole portion H and cleaning jet pipe is consistent (referring to Fig. 7 (a)).
Later, quadrature axis shape mobile device 70 moves workpiece W downwards (referring to Fig. 7 in a manner of it will clean jet pipe 25 and be inserted into hole portion H
(b)).After cleaning, it is moved upward workpiece W in a manner of extracting cleaning jet pipe 25 from workpiece W.Clean jet pipe 25 1
Side rotation is on one side by the hole portion H of workpiece W, thus carrying out in hole portion H or the cleaning with the hole portion H hole portion intersected.In addition, clear
Jet pipe 25 is washed by making high pressure water directly contact the burr of the intersection hole portion in hole portion H, can remove the burr.
In addition, not needing have rinse bath 20 in the case where cleaning (the cleaning in water) without the workpiece W in water.
In the case where not having rinse bath 20 inside purge chamber 15, washer jet 22 or cleaning jet pipe 25 are directly disposed in purge chamber 15
It is internal.In this case, the region that cleaned nozzle group 22 surrounds becomes cleaning area E.
In addition, cleaning jet pipe 25 is equipped with one from the lower part of rinse bath 20 along the vertical direction, but clean setting for jet pipe 25
Setting direction or number is arranged can be according to the quantity of the workpiece W that the size or grasping device of workpiece W is held, the setting side of washer jet
Method suitably changes.For example, cleaning jet pipe 25 can be set as the same quantity of quantity of the workpiece W held with grasping device 17.
As shown in Figure 1, inside purge chamber 15, fixed blast pipe 30,30 on the base 11.Blast pipe 30,30 forms four
The shape of angle frame, air-blast nozzle 31,34 is multiple towards the installation of the inside of blast pipe 30.Blast pipe 30 and air blast piping 32 connect
It is logical.The dry air of air blast is pressurizeed by pressure fan 33, and is supplied by air blast piping 32 to air-blast nozzle 31,34.
In addition, the dry air as air blast, can use compressed air instead of the air sent out from pressure fan 33.Separately
Outside, air-blast nozzle 31,34 can use pipe nozzle, broom shape nozzle, knife-like nozzle.
The cleaning device 10 of embodiment of the present invention is by being disposed in the front end (feeding title) of feeding bench apparatus 40
Grasping device 17 and hold workpiece W in the external of purge chamber 15.Moreover, in the state of holding workpiece W, from moving in outlet 16
(referring to Fig. 2) is taken into workpiece W to the cleaning area E inside purge chamber 15.Cleaning device 10 passes through quadrature axis shape mobile device 70
The position of suitable control workpiece W and posture in purge chamber 15 make workpiece W towards the washer jet being fixedly arranged on inside purge chamber 15
22.Washer jet 22 sprays cleaning solution, and cleaning solution jet flow Ja~Jf (referring to Fig. 6) cleans the workpiece W towards nozzle.
Due to being equipped with multiple washer jets 22 in nozzle block 21, so cleaning device 10 can clean multiple workpiece simultaneously
The abatement of scavenging period may be implemented in the cleaning parts of W.In the case where designing nozzle block 21 according to the shape of workpiece W, only make
The cleaning of necessary cleaning parts can be completed to the posture of several designs and position movement by workpiece W.
Due to being provided with multiple air-blast nozzles 31,34 in the inside for the blast pipe 30,30 for being formed as quadrangle frame-shaped,
So that workpiece W is passed through the inside of blast pipe 30,30, can sweep and fall the nearly all cleaning solution for being attached to workpiece W.
Cleaning device is driven by numerical control device, therefore can easily produce cleaning procedure.
In addition, in the case where keeping nozzle mobile, to the fluid Supplying apparatus of the cleaning solution of nozzle supply high pressure need with
Can mode corresponding with the movement of nozzle have hose with flexibility, fluid supply rotary joint etc can
Dynamic position.In this case, fluid Supplying apparatus needs are interfered with the mobile device of nozzle with preventing and are not sprayed with from nozzle
The mode for the high-pressure jet contact penetrated is designed.Then, the limitation of design increases, and becomes complicated device.
But the cleaning device 10 of present embodiment is due to being installed with nozzle 22, so fluid Supplying apparatus can use
Easy structure.In addition, since cleaning solution access 29 can be fixed, so its design freedom is high.Therefore, present embodiment is clear
Cleaning device 10 is also readily adapted for use in super-pressure cleaning.
In addition, quadrature axis shape mobile device 70 can make workpiece W mobile with posture freely.In the unhairing for carrying out workpiece W
In the case where thorn, need that jet flow is made to contact burr in a manner of the happening part for tracking burr.Since mobile device is linear axis
Shape mobile device, so compared to the multi-joint mechanical arm that the combination by swivel is constituted, it can be by the positioning accurate of workpiece W
Degree, repeatable accuracy or path accuracy are set to height.Therefore, available high deburring ability.In addition, being inserted by workpiece W
In the case where cleaning jet pipe 25, when the gap for cleaning jet pipe 25 and workpiece W is narrow, it is also possible to prevent cleaning jet pipe 25 and workpiece W
Interference.
In addition, for the cleaning device of present embodiment, since mobile device is linear axis shape mobile device 70, so
Control is easy, and operator is easy to use.
Rotation in the case where multi-joint mechanical arm holds the workpiece W as weight object, to multi-joint mechanical arm is constituted
Axis acts on big centrifugal force, it is thus impossible to make workpiece W high speed swinging.
On the other hand, the cleaning device 10 of present embodiment due to mobile device be linear axis shape mobile device 70, so
It can make workpiece W high speed swinging.The cleaning device 10 of present embodiment is due to being equipped with multiple washer jets 20, institute in four faces
With by making workpiece W Shang Xia while swinging, can the wide face of high-pressure wash simultaneously, can be obtained in short scavenging period
High cleaning effect.
Cleaning device 10 swings workpiece W and is moved by its feeding bench apparatus 40.Therefore, it is necessary to big mobile space and
Stroke.Quadrature axis shape mobile device 70 is since Y saddle 84 being arranged for the arranging Z saddle 85 on Mobile base 78 and on Z saddle 85
Structure, it is possible to save configuration space.In addition, there is big size due to Mobile base 78 and have big work in its front end
Part W and feeding bench apparatus 40, so X-axis and Mobile base 78 are by biggish load.Due to have by Mobile base 78 it is upper similarly hereinafter
Two X-axis driving devices 71,75 driven are walked, so being able to suppress the deformation of Mobile base 78, reduce Mobile base 78, pedestal
11 rigidity minimizes cleaning device 10.
The feeding bench apparatus 40 of embodiment of the present invention can use the first rotation of the rotary shaft for constituting orthogonal 2 axis
Turning saddle 59 and the second rotation saddle 47 rotates the grasping device 17 for holding workpiece W.Therefore, feeding bench apparatus 40 can be freely
Select the posture of workpiece W.Since the posture of workpiece W can be selected freely, so the workpiece W even for complicated shape also can
Obtain accurate cleaning action.As a result, the amount for remaining on the foreign matter of workpiece W can be reduced.In addition, being attached to workpiece in removing
In the case where the burr of W, need to be suitble to the angle of burr to hit high-pressure jet, but since feeding bench apparatus 40 can be given
The posture of workpiece W freely, it is possible to remove the burr for being attached to the surface of workpiece W of complicated shape.
Servo motor 49 as first driving device and the servo motor 41 as the second driving device are relative to cleaning
Region E is disposed in outside compared with closure assembly 14.In addition, the element of the driving force of transmitting servo motor 49,41 is due to matching
Inside feeding station 55, so being isolated with cleaning area E.
Therefore, servo motor 49,41 and driving power delivery system are not contacted with the jet flow of cleaning solution and steam.Therefore, originally
Feeding bench apparatus 40, work piece actuating device 13 or the cleaning device 10 of embodiment can obtain durability.
As above, the present invention is illustrated according to embodiment, but the present invention is not limited to above-mentioned embodiments, can suitably become
More specification.For example, in the above-described embodiment, using workpiece W as object, however, the present invention is not limited thereto can also be with nozzle
Or machining tool is object.In addition, feeding bench apparatus 40 of the invention is equipped on cleaning device 10, but not limited to this, it can be with
It is mechanical suitable for various work mechanisms or processing.
Claims (2)
1. a kind of feeding bench apparatus penetrates through the closure assembly movably in a manner of facing the operating area by closure assembly masking
It is arranged, holding object controls the posture of the object, and the feeding bench apparatus is characterized in that having:
First rotation saddle, rotates freely around first axle；
Second rotation saddle, is disposed in the first rotation saddle, and the second axis around the direction different from the first axle rotates certainly
Such as；
Grasping device is disposed in the second rotation saddle, keeps the object；
First driving device is disposed in outside relative to the operating area compared with the closure assembly, makes first rotation
Saddle rotation；
Second driving device is disposed in outside relative to the operating area compared with the closure assembly, makes second rotation
Saddle rotation；
The grasping device includes
Keep the fluid-pressure cylinder of the object；
From fluid feed sources to the fluid supply apparatus of the fluid-pressure cylinder supply pressure fluid；
The fluid supply apparatus has:
It is disposed in the first fluid supply rotary joint of the first rotation saddle；
It is disposed in the second fluid supply rotary joint of the second rotation saddle；
From the fluid feed sources to the fluid passage of the first fluid supply rotary joint supply pressure fluid；
From the first fluid supply rotary joint to the stream of the second fluid supply rotary joint supply pressure fluid
Body access；
From the second fluid supply rotary joint to the fluid passage of the fluid-pressure cylinder supply pressure fluid.
2. a kind of object driving device has feeding bench apparatus described in claim 1, movably supports the feeding
The mobile device of platform device, the pedestal for supporting the mobile device, the object driving device be characterized in that,
The mobile device has:
Left and right directions moving guiding mechanism is placed in the pedestal；
Mobile base is movably supported on the left and right directions moving guiding mechanism；
X-axis driving device moves the Mobile base in the lateral direction；
Up and down direction moving guiding mechanism is disposed in the Mobile base；
Z axis saddle is movably supported on the up and down direction moving guiding mechanism；
Front-rear direction moving guiding mechanism, is disposed in the Z axis saddle, movably supports the feeding station dress forward and backward
It sets；
Relative to the operating area, the mobile device is disposed in outside compared with the closure assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580363.1A CN109939980B (en) | 2014-07-24 | 2015-07-23 | Feed table device and object driving device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-150840 | 2014-07-24 | ||
| JP2014150840A JP6196588B2 (en) | 2014-07-24 | 2014-07-24 | Feed base device and object drive device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811580363.1A Division CN109939980B (en) | 2014-07-24 | 2015-07-23 | Feed table device and object driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105290020A CN105290020A (en) | 2016-02-03 |
| CN105290020B true CN105290020B (en) | 2019-01-25 |
Family
ID=51627930
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811580363.1A Expired - Fee Related CN109939980B (en) | 2014-07-24 | 2015-07-23 | Feed table device and object driving device |
| CN201510437079.9A Expired - Fee Related CN105290020B (en) | 2014-07-24 | 2015-07-23 | Feeding bench apparatus and object driving device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811580363.1A Expired - Fee Related CN109939980B (en) | 2014-07-24 | 2015-07-23 | Feed table device and object driving device |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9481018B2 (en) |
| EP (1) | EP2977154B1 (en) |
| JP (1) | JP6196588B2 (en) |
| KR (1) | KR101887731B1 (en) |
| CN (2) | CN109939980B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6227496B2 (en) * | 2014-07-24 | 2017-11-08 | 株式会社スギノマシン | Cleaning device |
| JP6608774B2 (en) * | 2016-07-22 | 2019-11-20 | 株式会社スギノマシン | Feed base device |
| USD865010S1 (en) * | 2017-01-17 | 2019-10-29 | Sugino Machine Limited | Washing machine for machined parts |
| CN107363029A (en) * | 2017-08-16 | 2017-11-21 | 贵州高峰石油机械股份有限公司 | A kind of machine-made spares rotary cleaning system and cleaning method |
| JP6855399B2 (en) | 2018-01-26 | 2021-04-07 | 株式会社スギノマシン | Nozzle runout measurement method and its equipment |
| JP6487084B1 (en) | 2018-03-07 | 2019-03-20 | 株式会社スギノマシン | Nozzle inspection apparatus and nozzle inspection method |
| JP7176823B2 (en) | 2018-10-09 | 2022-11-22 | 株式会社スギノマシン | CLEANING DEVICE AND METHOD FOR CLEANING AND DRYING OBJECT |
| JP6752346B1 (en) * | 2019-10-08 | 2020-09-09 | 株式会社スギノマシン | washing machine |
| CN111145998B (en) * | 2019-11-04 | 2022-09-16 | 苏州凡贤电子科技有限公司 | Feeding and discharging machine for flattened coils |
| JP6830170B1 (en) * | 2020-02-25 | 2021-02-17 | 株式会社スギノマシン | Cleaning machine and cleaning method |
| CN113634548A (en) * | 2021-09-10 | 2021-11-12 | 东莞市凯迪微智能装备有限公司 | Online cleaning machine |
| CN118458361B (en) * | 2024-07-12 | 2024-09-13 | 山东仝聚建筑节能科技有限公司 | Automatic plate feeding machine for stainless steel heat-insulating plate |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6196588B2 (en) | 2017-09-13 |
| EP2977154B1 (en) | 2020-04-29 |
| CN109939980B (en) | 2022-02-15 |
| KR20160012897A (en) | 2016-02-03 |
| CN105290020A (en) | 2016-02-03 |
| US20160023254A1 (en) | 2016-01-28 |
| US9481018B2 (en) | 2016-11-01 |
| JP2016022462A (en) | 2016-02-08 |
| KR101887731B1 (en) | 2018-08-10 |
| EP2977154A1 (en) | 2016-01-27 |
| CN109939980A (en) | 2019-06-28 |
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